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http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/15410
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| Titre: | Feedback motion planning for car-like robots |
| Auteur(s): | Derar, Iyed
Khoumari, Malik
Guernane, Reda (supervisor) |
| Mots-clés: | Feedback motion planning
Car-like robot
Rapidly random tree star (RRT) |
| Date de publication: | 2024 |
| Editeur: | Université M'hamed Bougara Boumerdès: Institue de génie electronic et electric |
| Résumé: | In this study, we address the problem of feedback motion planning for a car-like robot de-scribed by a kinematic model, navigating through obstacles. For this purpose, we designed two sampling-based algorithms equipped with the feedback property, a Modifie dRapidly Exploring Random Tree Star (RRT*) algorithm and a Funnel-Graph algorithm. Both al-gorithms generate collision-free paths while accounting for non-holonomic constraints and uncertainties. These generated paths are then fed to the pure pursuit controller which han-dles the robot motion execution. Our approach is validated by testing the algorithms’ ability
to handle differen tuncertaintie san dadaptability to environmental changes,including a performance comparison between them. The results show the superiority of the funnel-graph
algorithm across all tests, which makes it best suited for real-time applications. |
| Description: | 70 p. |
| URI/URL: | http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/15410 |
| Collection(s) : | Contrôle
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